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Source: citeseerx.ist.psu.edu
File size: 202 kb
File type: pdf
Last download on:
Tue Mar 26, 2013 11:28:29 AM
Short Desciption:
Mobile robots are beginning to move out of the lab and into real environments [Roman,
1991]. However, as the convenience of a laboratory is left behind, development, debugging,
site-installation, and end-user operation are becoming more difficult. While in the laboratory,
many mobile robot developers use tethers to link the onboard computer to a convenient
desktop monitor and keyboard.
Summary:
This paper presents the design and implementation of a Wireless Development
System (WDS) for mobile robots. The WDS has unique features that can greatly
facilitate the development and debugging process for mobile robots. In
experimentation with mobile robots, a development cycle usually consists of two
parts: run-time, and what we call "debug-time." Debug-time is the portion of the
development cycle in which the experimenter modifies and compiles the
software that controls the functions of the mobile robot. Then, during run-time,
the robot is actually moving while the experimenter evaluates the effects of the
software modifications. The described WDS provides a wireless user-interface
for both components of the development cycle, allowing the experimenter full
interaction with the onboard computer from a stationary location.
The paper provides information on the three main components of the WDS:
One component is a radio control-to-computer interface for wireless joystick
operation. This interface is inexpensive, independent of the type of onboard
computer, and provides important safety features. The second component is the
wireless computer-computer interface, which is specifically designed for IBMPC
type computers. The optional third component of the WDS provides
graphical video feedback from the onboard computer during run-time.
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"A Completely Wireless Development System for Mobile Robots"
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